CN217307086U - Obstacle-crossing auxiliary track of ground wire inspection robot - Google Patents
Obstacle-crossing auxiliary track of ground wire inspection robot Download PDFInfo
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- CN217307086U CN217307086U CN202220465220.1U CN202220465220U CN217307086U CN 217307086 U CN217307086 U CN 217307086U CN 202220465220 U CN202220465220 U CN 202220465220U CN 217307086 U CN217307086 U CN 217307086U
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Abstract
The utility model discloses an it hinders auxiliary rail more to follow ground wire inspection robot, including installing in the track support of transmission line shaft tower and the track main part of locating the track support, the track main part is located the outside of hindering the position more and the extending direction is unanimous with the transmission line extending direction, the track main part includes the marginal section at middle interlude, both ends and connects the changeover portion of marginal section and interlude, the distance of interlude distance transmission line ground wire is greater than the distance of marginal section distance transmission line ground wire. The utility model discloses can make only have the transmission line that stridees across small-size barrier function along the ground wire patrol and examine the barrier that robot high efficiency, strideed across length and surpass robot length safely.
Description
Technical Field
The utility model belongs to the technical field of electric power patrols and examines, especially, relate to along the ground wire patrol and examine robot obstacle crossing technique.
Background
In the power industry, the most important long-distance power transmission mode is an overhead power transmission line, the stability and safety of the power transmission line directly influence the stability and safety of the whole power supply system, and the power transmission line is an artery of national infrastructure and social development and plays a vital role. Therefore, it is necessary to perform a periodic patrol inspection of the transmission line. At present, the main inspection mode is manual inspection and unmanned aerial vehicle inspection. At present, manual inspection mainly depends on auxiliary equipment such as naked eyes or telescopes to observe the defects of lines, so that the loss is large and the efficiency is low. Unmanned aerial vehicle patrols and examines and to lean on unmanned aerial vehicle's camera to observe the condition of circuit, controls difficultly, the accuracy is not high. Therefore, the power transmission line inspection robot along the ground line has wide prospect in the application of overhead line inspection.
At present, different types of power transmission line inspection robots are available at home and abroad, can quickly pass through a power transmission tower along a power transmission line, and have certain obstacle crossing capability. However, when a large-corner line is faced or a corner tower needs to be crossed, the existing power transmission line inspection robot basically has no safe and reliable obstacle crossing mode, and the problem is imperatively solved for improving the efficiency and the intelligent degree of power inspection.
SUMMERY OF THE UTILITY MODEL
To prior art's defect, the utility model aims to solve the technical problem that an obstacle-crossing auxiliary rail of robot is patrolled and examined along the ground wire is provided, conveniently patrols and examines the robot reliably, fast through big corner or corner tower obstacle.
In order to solve the technical problem, the utility model adopts the following technical scheme:
the utility model provides an it hinders auxiliary track more to patrol and examine robot along ground wire, is including installing in the track support of transmission line shaft tower and the track main part of locating the track support, the track main part is located the outside and the extending direction of hindering the position more unanimously with transmission line extending direction, the track main part includes the marginal section at middle interlude, both ends and connects the changeover portion of marginal section and interlude, the distance of interlude apart from the transmission line ground wire is greater than the distance of marginal section apart from the transmission line ground wire.
Preferably, five steel rails are arranged on the rail main body corresponding to the middle section, the two edge sections and the two transition sections, each steel rail is a linear steel rail, and the joint between every two steel rails is in arc chamfering and welded joint.
Preferably, a cylindrical track is arranged on the upper side of the steel rail, and the radius of the cylindrical track is consistent with that of the ground wire of the power transmission line.
Preferably, the track support comprises a plurality of square-mouth pipes through welding, and comprises a middle L-shaped part, two horizontally extending horizontal rods on the upper portion and a plurality of vertically extending vertical rods on the lower portion, wherein the horizontal rods are connected with a top support of the power transmission line tower where the obstacle crossing auxiliary track is located through fasteners and bolts, the L-shaped part is provided with a triangular support, and the triangular support is placed above a protruding support of the power transmission line tower and is connected through the fasteners and the bolts.
Preferably, the steel rail is connected with the vertical rod through a rail connector, and the rail connector comprises a rail connecting support connected with the steel rail and a bolt for fixing the vertical rod and the rail connecting support.
Preferably, at least one position of each steel rail is connected with the rail bracket through a rail connecting piece.
The utility model adopts the above technical scheme, following beneficial effect has:
the inspection robot can efficiently and safely cross the obstacle with the length exceeding the length of the robot body along the ground wire of the power transmission line with the function of crossing the small obstacle.
The linear steel rail with the arc chamfer enables the ground wire inspection robot to move more simply when crossing obstacles, and reduces the electric energy consumption of crossing obstacles. The design of the L-shaped member enhances the stability and rigidity of the track.
The utility model discloses a specific technical scheme and the beneficial effect that brings will give detailed disclosure in the following detailed implementation way in combination with the attached drawing.
Drawings
The invention will be further described with reference to the accompanying drawings and specific embodiments:
FIG. 1 is an overall structure of the present invention;
fig. 2 is a schematic view of the present invention in connection with a power transmission line tower;
FIG. 3 is a schematic view of the connection between the steel rail and the L-shaped bracket of the present invention;
FIG. 4 is a schematic view of a ground wire inspection robot used with the present invention;
in the figure: 1-track body, 100-transmission line, 2-track support, 200-transmission line tower, 21-channel steel connecting piece, 22-track connecting piece, 221-track connecting support, 222-high-strength bolt and hexagon nut, 23-triangular support, 3-first arm mechanism, 31-first arm mechanism traveling motor, 32-first arm mechanism rotating motor, 33-first arm mechanism lifting motor, 34-first arm mechanism Y-axis moving servo motor, 4-second arm mechanism, 5-third arm mechanism and 6-X-axis moving servo motor.
Detailed Description
The technical solutions of the embodiments of the present invention are explained and explained below with reference to the drawings of the embodiments of the present invention, but the embodiments described below are only preferred embodiments of the present invention, and not all embodiments. Based on the embodiments in the embodiment, other embodiments obtained by those skilled in the art without any creative work belong to the protection scope of the present invention.
It will be appreciated by those skilled in the art that features from the examples and embodiments described below may be combined with each other without conflict.
Referring to fig. 1 to 3, the utility model provides an it hinders auxiliary rail more to follow ground wire inspection robot, including installing in the track support 2 of transmission line shaft tower 200 and the track main part 1 of locating the track support, the track main part is located and is hindered the outside and the extending direction of position more unanimously with transmission line 100 extending direction.
The track main body comprises a middle section in the middle, edge sections at two ends and a transition section for connecting the edge sections and the middle section, and the distance from the middle section to the ground wire of the power transmission line is larger than the distance from the edge sections to the ground wire of the power transmission line. Specifically, the rail main body is provided with five sections of steel rails corresponding to the middle section, the two edge sections and the two transition sections, each section of steel rail is a linear type steel rail, and the joint between each two sections of steel rails is in arc chamfering and is welded, so that an obstacle crossing auxiliary rail structure which is bulged in the middle and avoids obstacles is formed. And a cylindrical track is arranged on the upper side of the steel rail, and the radius of the cylindrical track is consistent with that of the ground wire of the power transmission line, so that the cylindrical track is matched with the traveling wheel of the inspection robot.
In this embodiment, track support 2 comprises a plurality of square-mouth pipe welding, including middle L type part, the horizontal pole of two horizontal extensions on upper portion, a plurality of vertical poles of the vertical extension of lower part, the horizontal pole uses fastener and bolt to be connected with the top support of the supplementary track place transmission line shaft tower of obstacle crossing, L type part is equipped with A-frame 23, and A-frame places in the outrigger top of transmission line shaft tower to use fastener and bolt to connect. The fasteners may be channel connectors 21.
Further, the rails are connected to the vertical bars by rail connectors 22. As shown in fig. 3, the rail connector 22 includes a rail connecting bracket 221 connected to the rail and a high-strength bolt and a hexagon nut 222 for fixing the vertical rod to the rail connecting bracket. And at least one part of each section of steel rail is connected with the rail bracket through a rail connecting piece.
As shown in fig. 4, the ground wire inspection robot matched with the obstacle crossing auxiliary track comprises a first arm mechanism 3, a second arm mechanism 4, a third arm mechanism 5 and an X-axis moving servo motor 6. The three arm mechanisms are identical except for different strokes of the servo motors moving along the Y axis, and each arm mechanism comprises a travelling mechanism, a rotating mechanism, a lifting mechanism and the Y axis movement servo motor, wherein the travelling mechanism comprises travelling wheels and travelling motors driving the travelling wheels to travel, the rotating mechanism comprises a rotating motor driving the travelling mechanism to rotate, the lifting mechanism comprises a lifting motor driving the travelling mechanism to lift, and each arm mechanism is moved along the Y axis through the Y axis movement servo motor. The concrete structures of the advancing mechanism, the rotating mechanism and the lifting mechanism can all refer to the prior art. Taking the first arm mechanism 3 as an example, it includes a first arm mechanism travel motor 31, a first arm mechanism rotation motor 32, a first arm mechanism lifting motor 33, and a first arm mechanism Y-axis movement servo motor 34. Only one X-axis movement servo motor 6 is used to complete the servo translation of the second arm mechanism 4 along the X-axis.
The utility model discloses a use method mainly includes following step:
a: ready to surmount the obstacle. The inspection robot learns that the next barrier is an obstacle crossing auxiliary track from the database, and then switches to a corresponding obstacle crossing mode, which specifically comprises the following steps: the first arm type mechanism 3 drives the lifting motor to enable the self-height to pass through the second arm type mechanism 4 and the third arm type mechanism 5, and drives the Y-axis movement servo motor to move the first arm type mechanism towards the direction far away from the ground wire. The first arm mechanism 3 is arranged outside the obstacle crossing auxiliary track, and the second arm mechanism 4 and the third arm mechanism 5 are arranged inside the obstacle crossing auxiliary track by driving rotating motors of the first arm mechanism, the second arm mechanism and the third arm mechanism. The servo motor 6 is moved by driving the X axis, the position of the second arm type mechanism is changed, and the gravity center of the robot is balanced.
B: the first arm mechanism 3 touches the obstacle crossing auxiliary track. After the whole inspection robot is switched to a corresponding obstacle crossing mode, the whole inspection robot advances by driving the traveling motors of the second arm type mechanism and the third arm type mechanism until the travel switch of the first arm type mechanism 3 is touched by the auxiliary track. At this time, the traveling motors of the second arm mechanism and the third arm mechanism stop rotating.
C: the obstacle crossing auxiliary track is arranged on the first arm type mechanism 3. The first arm type mechanism is opposite to the obstacle crossing auxiliary track by means of the matching of the rotary motor and the built-in rotary encoder, and then the lifting motor and the Y-axis moving servo motor are driven to enable the first arm type mechanism to descend and fall onto the track.
D: the second arm mechanism 4 is disengaged from the ground. After the first arm mechanism 3 successfully gets on the track, the second arm mechanism 4 firstly moves upwards in the direction far away from the ground wire by driving the lifting motor and the Y-axis moving servo motor, then synchronously drives the lifting motors of the first arm mechanism, the second arm mechanism and the third arm mechanism, the lifting motors of the first arm mechanism and the third arm mechanism ascend, the lifting motor of the second arm mechanism descends, so that the second arm mechanism 4 can drive the rotating motor to rotate 180 degrees to the outer side of the obstacle crossing auxiliary track, and finally moves upwards in the direction far away from the ground wire by driving the lifting motor and the Y-axis moving servo motor.
E-G: the second arm mechanism 4 moves on the rail. The whole process is similar to B-C.
H: the third arm mechanism 5 is disengaged from the ground. The whole process is similar to D.
I-J: the third arm mechanism 5 moves on the rail. The whole process is similar to B-C.
K: the first arm mechanism 3 is disengaged from the obstacle crossing auxiliary track. The first arm type mechanism 3 drives the lifting motor to be higher than the second arm type mechanism 4 and the third arm type mechanism 5, drives the Y-axis moving servo motor to move towards the direction far away from the track, and simultaneously drives the X-axis moving servo motor 6 to balance the gravity center of the machine body.
L: the first arm mechanism 3 returns to ground. When the inspection robot moves forward to the position where the second arm type mechanism 4 is close to the obstacle crossing auxiliary track outlet, the traveling motors of the second arm type mechanism and the third arm type mechanism stop, the first arm type mechanism 3 adjusts the angle by means of the rotating motor and the built-in rotary encoder to enable the first arm type mechanism to be opposite to the ground wire, and then the lifting motor is driven to enable the first arm type mechanism to descend and fall to the ground wire.
M-N: the second arm mechanism 4 acts back to the ground wire. The whole process is similar to K-L.
O-P: the third arm mechanism 5 acts on the bottom line. The whole process is similar to K-L.
Q: and (5) obstacle crossing is finished.
In conclusion, when the inspection robot spans a large obstacle by means of the obstacle crossing auxiliary rail, the unique mechanical connection structure ensures the reliability of connection with the tower, and the action complexity of operation on the inspection robot rail is reduced by the cooperation of the round chamfer and the linear steel rail. The design of keeping parallel with the ground wire reduces the complexity of the inspection robot for getting on and off the track and improves the obstacle crossing safety of the inspection robot. Be different from current obstacle crossing auxiliary fitting, the utility model discloses an obstacle crossing auxiliary rail is not equipped with the motor, and the installation is simple, has fully utilized the original obstacle crossing function of patrolling and examining robot, has widened it and has crossed the obstacle scope.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and those skilled in the art should understand that the present invention includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modification which does not depart from the functional and structural principles of the present invention is intended to be included within the scope of the claims.
Claims (6)
1. The utility model provides an it hinders auxiliary track more to patrol and examine robot along ground wire, its characterized in that, is including installing in the track support of transmission line shaft tower and the track main part of locating the track support, the track main part is located the outside and the extending direction of hindering the position more unanimously with transmission line extending direction, the track main part includes the interlude in the middle, the marginal section at both ends and the changeover portion of connecting marginal section and interlude, the interlude is greater than the distance of marginal section apart from transmission line ground wire apart from the distance of transmission line ground wire.
2. The auxiliary obstacle crossing track for the ground line inspection robot according to claim 1, wherein five steel rails are arranged on the track body corresponding to the middle section, the two edge sections and the two transition sections, each steel rail is a linear steel rail, and the joints between every two steel rails are formed by arc chamfering and welded.
3. The auxiliary obstacle crossing track for the ground line inspection robot according to claim 2, wherein a cylindrical track is arranged on the upper side of the steel rail, and the radius of the cylindrical track is consistent with that of the ground line of the power transmission line on which the cylindrical track is arranged.
4. The auxiliary track for the obstacle crossing of the ground wire inspection robot according to the claim 1, wherein the track support is formed by welding a plurality of square-mouth pipes and comprises a middle L-shaped component, two horizontally extending horizontal rods at the upper part and a plurality of vertically extending vertical rods at the lower part, the horizontal rods are connected with a top support of a power transmission line tower where the auxiliary track for the obstacle crossing is located through fasteners and bolts, the L-shaped component is provided with a triangular support, and the triangular support is placed above a protruding support of the power transmission line tower and is connected through the fasteners and the bolts.
5. The auxiliary track for inspecting the obstacle crossing of the robot along the ground wire according to the claim 3, wherein the steel rail is connected with the vertical rod through a track connecting piece, and the track connecting piece comprises a track connecting support connected with the steel rail and a bolt for fixing the vertical rod and the track connecting support.
6. An auxiliary track as claimed in claim 5, wherein at least one of the rails is connected to the track support by a track connector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220465220.1U CN217307086U (en) | 2022-03-04 | 2022-03-04 | Obstacle-crossing auxiliary track of ground wire inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220465220.1U CN217307086U (en) | 2022-03-04 | 2022-03-04 | Obstacle-crossing auxiliary track of ground wire inspection robot |
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| CN217307086U true CN217307086U (en) | 2022-08-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202220465220.1U Active CN217307086U (en) | 2022-03-04 | 2022-03-04 | Obstacle-crossing auxiliary track of ground wire inspection robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115663678A (en) * | 2022-10-17 | 2023-01-31 | 国网河北省电力有限公司邯郸供电分公司 | Cable inspection instrument auxiliary device and electric power tower equipment |
-
2022
- 2022-03-04 CN CN202220465220.1U patent/CN217307086U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115663678A (en) * | 2022-10-17 | 2023-01-31 | 国网河北省电力有限公司邯郸供电分公司 | Cable inspection instrument auxiliary device and electric power tower equipment |
| CN115663678B (en) * | 2022-10-17 | 2024-03-15 | 国网河北省电力有限公司邯郸供电分公司 | Auxiliary device for cable inspection instrument and power tower equipment |
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